The invention provides an automatic parking track dynamic planning method, system and device and a medium, and the method comprises the steps: building a vehicle dynamics model in automatic parking, and solving vehicle kinematics constraints and boundary conditions and obstacle constraints in a motion process; the method comprises the following steps of: establishing an automatic parking optimal trajectory planning model which takes driving time or driving mileage as an evaluation function from a given initial position to an end position, and dispersing a state variable and a control variable of a vehicle in a state space; global optimality of track planning can be realized for an automatic parking track by adopting a dynamic planning idea based on a cell mapping method, and an optimal track planning discrete table is obtained through off-line calculation; according to the dynamic planning idea, the calculation complexity can be reduced, the accuracy of the optimal planning solution can be ensured, the vehicle can be subjected to decision planning on line according to the optimal trajectory planning discrete table calculated off line, the real-time requirement can be met, and the safety and reliability of the automatic parking process of the vehicle can be ensured.
本发明提供一种自动泊车的轨迹动态规划方法、系统、设备及介质,建立自动泊车中的车辆动力学模型,并求解出车辆运动学约束和边界条件以及运动过程中的障碍约束,建立给定初始位置到终止位置的以行驶时间或行驶里程为评价函数的自动泊车最优轨迹规划模型,通过将车辆的状态变量和控制变量在状态空间中进行离散,基于胞映射方法采用动态规划的思想对自动泊车轨迹可以实现轨迹规划的全局最优性,并通过离线计算得出最优轨迹规划离散表;其中动态规划的思想可以减少计算的复杂性,并且可以保证最优规划解的准确性,车辆可根据离线计算出的最优轨迹规划离散表在线对车辆进行决策规划,可以实现实时性的要求,并保证其自动泊车过程的安全可靠。
Track dynamic planning method, system and equipment for automatic parking and medium
一种自动泊车的轨迹动态规划方法、系统、设备及介质
2022-06-14
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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